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collaborative perception 1communication efficiency 1multi-robot systems 1relative pose estimation 1vision foundation models 1

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cs.RO2026

Communication-Efficient Relative Pose Estimation with Vision Foundation Models for Ephemeral Collaborative Perception

Qihang Li, Jo-Hao Huang, Jiewen Liu +3

The paper presents CERPE, a framework that uses vision foundation models and compact descriptors to estimate 6-DoF relative poses between robots while minimizing raw image transmis…